NPCLEI/mjlab_supermimic
SuperMimic (CoRL 2026) reproduced on the Unitree G1 in mjlab / MuJoCo Warp: one differentiable world model, a 22k-clip motion library, released weights and a demo clip. Tasks are declared with register_mjlab_task; rewards are reflected from env_cfg and verified to 3.7e-9.
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Language: Python